A spatial folding and unfolding mechanism ground three-dimensional motion testing device and testing method
By setting five sets of guide rails and sliding units on the support frame, the motion trajectories of the lifting points are ensured to not intersect, thus realizing continuous three-dimensional motion testing of the spatial unfolding mechanism. This solves the problem of motion trajectory intersection in the existing technology and meets the requirements of yaw motion.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 江淮前沿技术协同创新中心
- Filing Date
- 2023-12-29
- Publication Date
- 2026-05-12
AI Technical Summary
In the existing technology, the suspension wire system cannot achieve continuous motion without cross-interference in the ground three-dimensional motion test of the space folding mechanism, especially the pitch motion, and the existing device cannot meet the yaw motion requirements of the space folding mechanism.
A ground-based three-dimensional motion testing device for a spatial folding mechanism was designed. Five sets of guide rails were set on the support frame, each with a sliding unit and a fixed pulley. Suspension ropes connected the joints of the spatial folding mechanism, and different widths of suspension ropes were set to avoid cross-interference of the motion trajectories of the joint suspension points. Rotational degrees of freedom were configured to meet the yaw motion requirements.
It achieved continuous motion testing of the spatial folding mechanism from the folded state to different extended states, avoiding cross-interference of the motion trajectories of the suspension points, and meeting the requirements of yaw motion.
Smart Images
Figure CN117818913B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of space motion testing technology, specifically to a ground-based three-dimensional motion testing device and method for a space unfolding mechanism. Background Technology
[0002] Space folding and unfolding mechanisms, such as space robotic arms and satellite antennas, are folded and retracted before launch from the ground and unlocked and deployed after orbiting, and are widely used in the space field. The operating environment for space folding and unfolding mechanisms is microgravity; when testing their functionality under Earth's gravity, gravity compensation is required.
[0003] Ground-based testing systems simulating microgravity environments in space mainly include wire-based counterweight systems, planar air flotation systems, water flotation systems, and free-fall systems. Planar air flotation systems offer good gravity compensation, but can only allow space mechanisms to move within a plane, making it impossible to achieve multi-degree-of-freedom linkage testing in three-dimensional space. Water flotation systems and free-fall systems generally suffer from high costs and maintenance expenses. The former requires ensuring the system's airtightness during testing, while the latter, although effective in compensating for gravity, has a very short duration, making it unsuitable for testing space mechanisms.
[0004] Currently, wire-lifting counterweight systems are divided into (semi-)active and passive types. (Semi-)active wire-lifting systems have a drive source in at least one direction of motion, as shown in the literature: Accuracy Analysis of Single-Degree-of-Freedom Wire-Lifting Counterweight Gravity Compensation Mechanism [J]. Jiang Jianjian, Huang Zhilai, Zhou Huiming, et al. Journal of Hebei University of Engineering (Natural Science Edition), 2023, 40(01):104-112. This type of wire-lifting system can only achieve rotation or yaw motion in the horizontal plane and cannot achieve pitch motion.
[0005] Passive sling systems have no drive source and generally consist of two longitudinal guide rails, multiple transverse guide rails, and sliders, fixed pulleys, slings, counterweights, and lifting rings on the transverse guide rails. For example, Chinese invention patent document CN107160377A discloses a ground-based three-dimensional spatial motion testing device and method for a space robotic arm. This patent discloses a passive sling system. Although it achieves pitch motion, the movement trajectories of the slings intersect due to the cross-interference between the transverse guide rails, causing the movement trajectories of the lifting points to intersect. Consequently, this device does not support continuous movement of the folding mechanism from a retracted state to multiple extended states. Summary of the Invention
[0006] The technical problem to be solved by this invention is how to ensure that the movement trajectory of the lifting point does not cross or interfere.
[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution:
[0008] A three-dimensional motion testing device for a spatial unfolding mechanism on the ground includes a support frame, guide rails, sliding units, fixed pulleys, suspension ropes, and counterweights. The support frame is provided with 5 sets of guide rails, and each set of guide rails is provided with a set of sliding units that can move along the length of the guide rail. Each set of sliding units is provided with fixed pulleys. One end of the suspension rope is connected to the spatial unfolding mechanism, and the other end is connected to the counterweights after passing around the fixed pulleys.
[0009] The suspension ropes on the middle set of guide rails are vertically connected to the end of the folding arm of the spatial folding mechanism. The suspension ropes on the two sets of guide rails adjacent to the middle guide rail are vertically connected to the second joint of the spatial folding mechanism. The suspension ropes on the two outermost sets of guide rails are vertically connected to the third joint of the spatial folding mechanism.
[0010] In this invention, the suspension ropes connected to the second and third joints are set to different widths to ensure that the movement trajectories between the joint suspension points do not cross or interfere with each other, thus realizing continuous motion testing of the spatial folding mechanism from the folded state to different extended states.
[0011] Preferably, it also includes a connecting plate, and the two ends of the five sets of guide rails are connected by the connecting plate.
[0012] Preferably, the support frame and the connecting plate are connected by a tension rope.
[0013] Preferably, a connecting flange is also provided on the top of the support frame.
[0014] Preferably, the support frame is further provided with reinforcing ribs.
[0015] Preferably, the reinforcing rib has weight-reducing holes.
[0016] Preferably, the sliding unit includes a slider and a connector, the slider is slidably mounted on the guide rail, and the bottom of the slider is connected to the fixed pulley via the connector.
[0017] Preferably, the present invention further includes a testing method for a three-dimensional motion testing device for a space unfolding mechanism on the ground, characterized in that it specifically includes the following steps:
[0018] Step 1: Install the space folding mechanism in a position that rotates coaxially with the support frame;
[0019] Step 2: Fold up the space folding mechanism, connect the suspension rope on the middle set of guide rails vertically to the end of the folding arm of the space folding mechanism, connect the suspension ropes on the two sets of guide rails adjacent to the middle guide rails vertically to the second joint of the space folding mechanism, and connect the suspension ropes on the two outermost sets of guide rails vertically to the third joint of the space folding mechanism.
[0020] Step 3: Match the mass of the counterweight block suspended by each section of the suspension rope with the spatial unfolding mechanism of the corresponding section;
[0021] Step 4: Given the motion trajectory of the spatial folding mechanism and activate its joints to enable the spatial folding mechanism to move freely in three-dimensional space under gravity compensation.
[0022] Compared with the prior art, the beneficial effects of the present invention are:
[0023] 1. In this invention, the suspension ropes connected to the second and third joints are set to different widths to ensure that the movement trajectories between the joint suspension points do not cross or interfere with each other, thus realizing continuous motion testing of the spatial folding mechanism from the folded state to different extended states.
[0024] 2. The testing device is also equipped with rotational degrees of freedom to satisfy the yaw motion of the spatial unfolding mechanism. Attached Figure Description
[0025] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;
[0026] Figure 2 This is a schematic diagram of the spatial unfolding mechanism according to an embodiment of the present invention;
[0027] Figure 3 This is a partial structural diagram of the testing device in this embodiment;
[0028] Figure 4 This is a schematic diagram of the suspension point structure when the spatial unfolding mechanism is tilted at 45° according to an embodiment of the present invention;
[0029] Figure 5 This is a schematic diagram of the suspension point structure of the spatial folding mechanism described in this invention when it is tilted 90°.
[0030] Figure 6 This is a schematic diagram of the suspension point structure of the spatial folding mechanism described in this invention when it is tilted 120°.
[0031] Figure 7 This is a schematic diagram of the suspension point structure when the spatial folding mechanism of the present invention is tilted 180°. Detailed Implementation
[0032] To facilitate understanding of the technical solution of the present invention by those skilled in the art, the technical solution of the present invention will now be further described in conjunction with the accompanying drawings.
[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0034] In this application, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically limited.
[0035] See Figures 1 to 3 This embodiment discloses a ground three-dimensional motion testing device for a spatial folding mechanism. The spatial folding mechanism 1 includes a yaw joint 11, a first folding arm 12, a second folding arm 13, a first joint 14, a second joint 15, a third joint 16, and an end hanger 17. The first folding arm 12, which can rotate in the vertical direction, is hinged to the yaw joint 11 through the first joint 14. The two ends of the second folding arm 13 are hinged to the first folding arm 12 through the second joint 15 and the third joint 16, respectively. The first folding arm 12 and the second folding arm 13 are arranged in parallel. The end of the second folding arm 13 away from the yaw joint 11 is hinged to the end hanger 17.
[0036] The testing device 2 includes a support frame 21, guide rails 22, sliding units 23, fixed pulleys 24, suspension ropes 25, and counterweights 26. The bottom of the support frame 21 is horizontally fixed with 5 sets of guide rails 22. Each set of guide rails 22 is provided with a set of sliding units 23 that can move along the length of the guide rail 22. Each set of sliding units 23 is provided with fixed pulleys 24. One end of the suspension rope 25 is connected to the spatial unfolding mechanism 1, and the other end is connected to the counterweights 26 after passing around the fixed pulleys 24.
[0037] The suspension ropes 25 on the middle set of guide rails 22 are vertically connected to the end hangers 17 hinged to the end of the second folding arm 13 of the space folding mechanism 1. The suspension ropes 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 are vertically connected to both sides of the second joint 15 of the space folding mechanism 1. The suspension ropes 25 on the two outermost sets of guide rails 22 are vertically connected to both sides of the third joint 16 of the space folding mechanism 1, so that the distance between the suspension ropes 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 is smaller than the distance between the suspension ropes 25 on the two outermost sets of guide rails 22.
[0038] Furthermore, this embodiment also includes a connecting plate 27 and a tension rope 28. Both ends of the five sets of guide rails 22 are connected by the connecting plate 27, and the support frame 21 is connected and tightened to the connecting plate 27 by the tension rope 28 to ensure the stability of the guide rails 22.
[0039] The support frame 21 is also provided with a connecting flange (not shown in the figure) at its top for connecting a drive source, enabling the testing device 2 to rotate around its vertical axis of rotation. Furthermore, the support frame 21 is also provided with reinforcing ribs 29, and the reinforcing ribs 29 have weight-reducing holes.
[0040] The sliding unit 23 includes a slider and a connector. The slider is slidably mounted on the guide rail 22, and the bottom of the slider is connected to the fixed pulley 24 via the connector. Furthermore, the coefficient of friction between the slider and the guide rail 22 is better than 0.005.
[0041] Furthermore, in this embodiment, the counterweight 26 is a counterweight.
[0042] Specifically, this embodiment also discloses a testing method for a ground-based three-dimensional motion testing device for a space unfolding mechanism, including the following steps:
[0043] Step 1: Install the space folding mechanism 1 in a position that rotates coaxially with the support frame 21;
[0044] Step 2: Connect the suspension ropes 25 on the middle set of guide rails 22 vertically to the end hanger 17 hinged to the end of the second folding arm 13 of the space folding mechanism 1. Connect the suspension ropes 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 vertically to both sides of the second joint 15 of the space folding mechanism 1. Connect the suspension ropes 25 on the two outermost sets of guide rails 22 vertically to both sides of the third joint 16 of the space folding mechanism 1, so that the distance between the suspension ropes 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 is smaller than the distance between the suspension ropes 25 on the two outermost sets of guide rails 22.
[0045] Step 3: Match the mass of the counterweight 26 suspended by each section of the lifting rope 25 with the mass of the corresponding section of the spatial unfolding mechanism 1;
[0046] Step 4: Given the motion trajectory of the spatial folding mechanism 1 and activate the joints of the spatial folding mechanism 1, so as to enable the spatial folding mechanism 1 to move freely in three-dimensional space under gravity compensation.
[0047] For details, please refer to Figure 1 This is a schematic diagram of the suspension point connection when the space folding mechanism is in the folded state. The suspension rope 25 on the middle set of guide rails 22 is at the rightmost end of the slide rail 22, the suspension rope 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 is in the middle, and the suspension rope 25 on the two outermost sets of guide rails 22 is at the leftmost end.
[0048] See Figure 4 When the folding arm is at 45° due to the pitching motion of the spatial folding mechanism 1, the suspension rope 25 on the middle set of guide rails 22 is still at the rightmost end of the slide rail 22, the suspension rope 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 is still in the middle, and the suspension rope 25 on the two outermost sets of guide rails 22 is still at the leftmost end.
[0049] See Figure 5 When the folding arm is tilted to 90° by the pitching motion of the spatial folding mechanism 1, the distance between the suspension ropes 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 is smaller than the distance between the suspension ropes 25 on the two sets of guide rails 22 on the outermost side. This causes the sliding unit 23 on the two sets of guide rails 22 adjacent to the middle guide rail 22 to drive the suspension ropes 25 to move to the leftmost end. The movement trajectories between the suspension ropes 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 and the suspension ropes 25 on the two sets of guide rails 22 on the outermost side will not intersect. At this time, the suspension ropes 25 on the two sets of guide rails on the outermost side are in the middle, and the suspension ropes 25 on the middle set of guide rails 22 are still at the rightmost end of the slide rail 22.
[0050] See Figure 6 When the folding arm reaches 120° through the pitching motion of the spatial folding mechanism 1, the sliding unit 23 on the two sets of guide rails 22 adjacent to the middle guide rail 22 drives the suspension rope 25 to continue moving to the leftmost end. At this time, the suspension rope 25 on the middle set of guide rails 22 is in the middle of the slide rail 22. Since the suspension rope 25 on the middle set of guide rails 22 is in the middle of the two adjacent suspension ropes 25, the movement trajectory between the suspension rope 25 on the middle set of guide rails 22 and the two adjacent suspension ropes 25 will not cross or interfere. At this time, the suspension rope 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 is at the rightmost end.
[0051] See Figure 7When the folding arm is at 180° due to the pitching motion of the spatial folding mechanism 1, the suspension rope 25 on the middle set of guide rails 22 is at the leftmost end, the suspension rope 25 on the two sets of guide rails 22 adjacent to the middle guide rail 22 is in the middle, and the suspension rope 25 on the two outermost sets of guide rails 22 is still at the rightmost end.
[0052] In summary, in this invention, the suspension ropes 25 connected to the second joint 15 and the third joint 16 are arranged with different widths to ensure that the movement trajectories between the joint suspension points do not cross or interfere with each other, thus realizing continuous motion testing of the spatial folding mechanism 1 from the folded state to different extended states; at the same time, the testing device 2 is also equipped with rotational degrees of freedom to meet the yaw motion of the spatial folding mechanism 1.
[0053] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.
[0054] The above embodiments are merely examples of implementation methods of the invention. The scope of protection of the present invention is not limited to the above embodiments. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.
Claims
1. A three-dimensional motion testing device for a spatial unfolding mechanism on the ground, characterized in that: The spatial folding mechanism includes a yaw joint, a first folding arm, a second folding arm, a first joint, a second joint, a third joint, and an end lifting device. The first folding arm, which can rotate in the vertical direction, is hinged to the yaw joint via the first joint. The two ends of the second folding arm are hinged to the first folding arm via the second joint and the third joint, respectively. The first folding arm and the second folding arm are arranged in parallel. The end of the second folding arm away from the yaw joint is hinged to the end lifting device. The testing device includes a support frame, guide rails, sliding units, fixed pulleys, suspension ropes, and counterweights. The support frame is equipped with 5 sets of guide rails, and each set of guide rails is equipped with a set of sliding units that can move along the length of the guide rail. Each set of sliding units is equipped with fixed pulleys. One end of the suspension rope is connected to a spatial unfolding mechanism, and the other end is connected to the counterweights after passing around the fixed pulleys. The suspension ropes on the middle set of guide rails are vertically connected to the end hanger hinged at the end of the second folding arm of the spatial folding mechanism. The suspension ropes on the two sets of guide rails adjacent to the middle guide rail are vertically connected to both sides of the second joint of the spatial folding mechanism. The suspension ropes on the two outermost sets of guide rails are vertically connected to both sides of the third joint of the spatial folding mechanism, so that the distance between the suspension ropes on the two sets of guide rails adjacent to the middle guide rail is smaller than the distance between the suspension ropes on the two outermost sets of guide rails.
2. The three-dimensional motion testing device for a spatial unfolding mechanism on the ground according to claim 1, characterized in that: It also includes a connecting plate, and the two ends of the five sets of guide rails are connected by the connecting plate.
3. The three-dimensional motion testing device for a spatial unfolding mechanism on the ground according to claim 2, characterized in that: The support frame and the connecting plate are connected by a tension rope.
4. The three-dimensional motion testing device for a spatial unfolding mechanism on the ground according to claim 1, characterized in that: The top of the support frame is also equipped with a connecting flange.
5. The three-dimensional motion testing device for a spatial unfolding mechanism on the ground according to claim 1, characterized in that: The support frame is also equipped with reinforcing ribs.
6. The three-dimensional motion testing device for a spatial unfolding mechanism on the ground according to claim 5, characterized in that: The reinforcing rib has weight-reducing holes.
7. The three-dimensional motion testing device for a spatial unfolding mechanism on the ground according to claim 1, characterized in that: The sliding unit includes a slider and a connector. The slider is slidably mounted on the guide rail, and the bottom of the slider is connected to the fixed pulley via the connector.
8. A testing method using the ground-based three-dimensional motion testing device for the spatial unfolding mechanism as described in any one of claims 1 to 7, characterized in that: Specifically, the steps include the following: Step 1: Install the space folding mechanism in a position that rotates coaxially with the support frame; Step 2: Fold up the space folding mechanism, connect the suspension rope on the middle set of guide rails vertically to the end of the folding arm of the space folding mechanism, connect the suspension ropes on the two sets of guide rails adjacent to the middle guide rails vertically to the second joint of the space folding mechanism, and connect the suspension ropes on the two outermost sets of guide rails vertically to the third joint of the space folding mechanism. Step 3: Match the mass of the counterweight block suspended by each section of the suspension rope with the spatial unfolding mechanism of the corresponding section; Step 4: Given the motion trajectory of the spatial folding mechanism and activate its joints to enable the spatial folding mechanism to move freely in three-dimensional space under gravity compensation.